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<title>Doxygen: pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices结构体 参考</title>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices结构体 参考</div>  </div>
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类 pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ae1e74c878a938120deb6b3135225f334"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#ae1e74c878a938120deb6b3135225f334">OptimizationFunctorWithIndices</a> (int m_data_points, const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> *estimator)</td></tr>
<tr class="separator:ae1e74c878a938120deb6b3135225f334"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a536aeab06d1210b7695471aff0029af0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a536aeab06d1210b7695471aff0029af0">OptimizationFunctorWithIndices</a> (const <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src)</td></tr>
<tr class="separator:a536aeab06d1210b7695471aff0029af0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46c8b467b50f25702ba030411a8e5b89"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a46c8b467b50f25702ba030411a8e5b89">operator=</a> (const <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src)</td></tr>
<tr class="separator:a46c8b467b50f25702ba030411a8e5b89"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2be695cc326abc1299db2f5c6acac3f0"><td class="memItemLeft" align="right" valign="top"><a id="a2be695cc326abc1299db2f5c6acac3f0"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a2be695cc326abc1299db2f5c6acac3f0">~OptimizationFunctorWithIndices</a> ()</td></tr>
<tr class="memdesc:a2be695cc326abc1299db2f5c6acac3f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a2be695cc326abc1299db2f5c6acac3f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0fe3b4fb7eb08c8ea7d8774ec19ae4d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#aa0fe3b4fb7eb08c8ea7d8774ec19ae4d">operator()</a> (const VectorX &amp;x, VectorX &amp;fvec) const</td></tr>
<tr class="separator:aa0fe3b4fb7eb08c8ea7d8774ec19ae4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::Functor&lt; _Scalar, NX, NY &gt;</a></td></tr>
<tr class="memitem:af43ba6b7aff18edd2128a409bcc3bb75 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="af43ba6b7aff18edd2128a409bcc3bb75"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#af43ba6b7aff18edd2128a409bcc3bb75">Functor</a> ()</td></tr>
<tr class="memdesc:af43ba6b7aff18edd2128a409bcc3bb75 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty Construtor. <br /></td></tr>
<tr class="separator:af43ba6b7aff18edd2128a409bcc3bb75 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9ff67909b2efa27e1739fbfc06795c5 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#aa9ff67909b2efa27e1739fbfc06795c5">Functor</a> (int m_data_points)</td></tr>
<tr class="memdesc:aa9ff67909b2efa27e1739fbfc06795c5 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#aa9ff67909b2efa27e1739fbfc06795c5">更多...</a><br /></td></tr>
<tr class="separator:aa9ff67909b2efa27e1739fbfc06795c5 inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63cf8d06c2913ef909fc9ef00f77133f inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a63cf8d06c2913ef909fc9ef00f77133f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a63cf8d06c2913ef909fc9ef00f77133f">~Functor</a> ()</td></tr>
<tr class="memdesc:a63cf8d06c2913ef909fc9ef00f77133f inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a63cf8d06c2913ef909fc9ef00f77133f inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a429be0de2f236ad12cf74cb64826545e inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a429be0de2f236ad12cf74cb64826545e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">values</a> () const</td></tr>
<tr class="memdesc:a429be0de2f236ad12cf74cb64826545e inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of values. <br /></td></tr>
<tr class="separator:a429be0de2f236ad12cf74cb64826545e inherit pub_methods_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a6082a5889a067151642f794c1989f7d9"><td class="memItemLeft" align="right" valign="top"><a id="a6082a5889a067151642f794c1989f7d9"></a>
const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt; *&#160;</td><td class="memItemRight" valign="bottom"><b>estimator_</b></td></tr>
<tr class="separator:a6082a5889a067151642f794c1989f7d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::Functor&lt; _Scalar, NX, NY &gt;</a></td></tr>
<tr class="memitem:ae6bd4d725640212583fc0e9d26606bbe inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="ae6bd4d725640212583fc0e9d26606bbe"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>InputsAtCompileTime</b> = NX
, <b>ValuesAtCompileTime</b> = NY
 }</td></tr>
<tr class="separator:ae6bd4d725640212583fc0e9d26606bbe inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef _Scalar&#160;</td><td class="memItemRight" valign="bottom"><b>Scalar</b></td></tr>
<tr class="separator:aeed20c9e392c0e3bb8864000b268ac2b inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef Eigen::Matrix&lt; _Scalar, InputsAtCompileTime, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>InputType</b></td></tr>
<tr class="separator:a274f5f91b3aa1d323b1e75224d6dbe8b inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef Eigen::Matrix&lt; _Scalar, ValuesAtCompileTime, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ValueType</b></td></tr>
<tr class="separator:a0bb09f92969ba73230b1ece54214bfdd inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2983ac92381c663486251286d563122d inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a2983ac92381c663486251286d563122d"></a>
typedef Eigen::Matrix&lt; _Scalar, ValuesAtCompileTime, InputsAtCompileTime &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>JacobianType</b></td></tr>
<tr class="separator:a2983ac92381c663486251286d563122d inherit pub_types_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;::Functor&lt; _Scalar, NX, NY &gt;</a></td></tr>
<tr class="memitem:a221bbf42c5878450b01ca14e3ff3d17d inherit pro_attribs_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a221bbf42c5878450b01ca14e3ff3d17d"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>m_data_points_</b></td></tr>
<tr class="separator:a221bbf42c5878450b01ca14e3ff3d17d inherit pro_attribs_structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">构造及析构函数说明</h2>
<a id="ae1e74c878a938120deb6b3135225f334"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae1e74c878a938120deb6b3135225f334">&#9670;&nbsp;</a></span>OptimizationFunctorWithIndices() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>m_data_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> *&#160;</td>
          <td class="paramname"><em>estimator</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a> constructor </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">m_data_points</td><td>the number of data points to evaluate </td></tr>
    <tr><td class="paramdir">[in,out]</td><td class="paramname">estimator</td><td>pointer to the estimator object </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            : Functor&lt;MatScalar&gt; (m_data_points), estimator_ (estimator) </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          {}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a536aeab06d1210b7695471aff0029af0">&#9670;&nbsp;</a></span>OptimizationFunctorWithIndices() <span class="overload">[2/2]</span></h2>

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template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
          <td></td>
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<p>Copy constructor </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the optimization functor to copy into this </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            : Functor&lt;MatScalar&gt; (src.m_data_points_), estimator_ ()</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          }</div>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aa0fe3b4fb7eb08c8ea7d8774ec19ae4d">&#9670;&nbsp;</a></span>operator()()</h2>

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template&lt;typename PointSource , typename PointTarget , typename MatScalar &gt; </div>
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          <td class="memname">int <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices::operator() </td>
          <td>(</td>
          <td class="paramtype">const VectorX &amp;&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">VectorX &amp;&#160;</td>
          <td class="paramname"><em>fvec</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Fill fvec from x. For the current state vector x fill the f values </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>state vector </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">fvec</td><td>f values vector </td></tr>
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<div class="fragment"><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;{</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointSource&gt;</a> &amp; src_points = *estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointTarget&gt;</a> &amp; tgt_points = *estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a>;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt; &amp; src_indices = *estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt; &amp; tgt_indices = *estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">// Initialize the warp function with the given parameters</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;setParam (x);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">// Transform each source point and compute its distance to the corresponding target point</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">values</a> (); ++i)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">const</span> PointSource &amp; p_src = src_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[src_indices[i]];</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keyword">const</span> PointTarget &amp; p_tgt = tgt_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[tgt_indices[i]];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="comment">// Transform the source point based on the current warp parameters</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    Vector4 p_src_warped;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;warpPoint (p_src, p_src_warped);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="comment">// Estimate the distance (cost function)</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    fvec[i] = estimator_-&gt;correspondence_weights_[i] * estimator_-&gt;<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html#aa7c0ad539f81463c692e500c0ab76dad">computeDistance</a> (p_src_warped, p_tgt);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_html_aa7c0ad539f81463c692e500c0ab76dad"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html#aa7c0ad539f81463c692e500c0ab76dad">pcl::registration::TransformationEstimationPointToPlane::computeDistance</a></div><div class="ttdeci">virtual Scalar computeDistance(const PointSource &amp;p_src, const PointTarget &amp;p_tgt) const</div><div class="ttdoc">Compute the distance between a source point and its corresponding target point</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a25c896f93f052ad72bcd4268beac017f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_tgt_</a></div><div class="ttdeci">const PointCloudTarget * tmp_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a89c7b6260885beaf2ced53bca74b1f13"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">pcl::registration::TransformationEstimationPointToPlaneWeighted::warp_point_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::registration::WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; warp_point_</div><div class="ttdoc">The parameterized function used to warp the source to the target.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9623915c6e1a55cc2d6019553cac3a1f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_src_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_src_</div><div class="ttdoc">Temporary pointer to the source dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9a76f8ffc1af3381de3ffe52256dc9ce"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_src_</a></div><div class="ttdeci">const PointCloudSource * tmp_src_</div><div class="ttdoc">Temporary pointer to the source dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_aa4cd3f6b20447bac66d6c02c5af69c67"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_tgt_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:200</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html_a429be0de2f236ad12cf74cb64826545e"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:235</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a46c8b467b50f25702ba030411a8e5b89">&#9670;&nbsp;</a></span>operator=()</h2>

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template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
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      <table class="memname">
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          <td class="memname"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a>&amp; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::OptimizationFunctorWithIndices::operator= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
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<p>Copy operator </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the optimization functor to copy into this </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          { </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            Functor&lt;MatScalar&gt;::operator=(src);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            estimator_ = src.estimator_; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            <span class="keywordflow">return</span> (*<span class="keyword">this</span>); </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          }</div>
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<hr/>该结构体的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__point__to__plane__weighted_8h_source.html">transformation_estimation_point_to_plane_weighted.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="transformation__estimation__point__to__plane__weighted_8hpp_source.html">transformation_estimation_point_to_plane_weighted.hpp</a></li>
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